%parcial
t1=45*3.14/180;
t2=90*3.14/180;
t3=30*3.14/180;;
a2=10;d3=30;a3=6;
%alpha1=90;
c1=cos(t1);c2=cos(t2);c3=cos(t3);
s1=sin(t1);s2=sin(t2);s3=sin(t3);
T1=[c1 0 0 0; s1 c1 0 0; 0 0 1 0; 0 0 0 1];
T2=[c2 -s2 0 10; s2*cos(pi/2) c2*cos(pi/2) -sin(pi/2) 0;...
    s2*sin(pi/2) c2*sin(pi/2)  cos(pi/2) 0 ; 0 0 0 1];
T3=[c3 0 0 6; s3 c3 0 0; 0 0 1 0; 0 0 0 1];;
T03=T1*T2*T3
%grafica:

